机器人精密减速器两级齿廓修形对传动精度的影响  

Influence of Two-stage Tooth Profile Modification on Transmission Accuracy of Robot Precision Reducer

作　　者：乔雪涛[1] 贾克 闫存富 杨泽 王朋 李放 Qiao Xuetao;Jia Ke;Yan Cunfu;Yang Ze;Wang Peng;Li Fang(School of Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 451191,China)

机构地区：[1]中原工学院机电学院,河南郑州451191

出　　处：《机械传动》2021年第7期141-147,共7页Journal of Mechanical Transmission

基　　金：河南省高等学校现代制造装备与仪器重点学科开放实验室开放课题(2017MEI001)。

摘　　要：基于渐开线和摆线齿廓方程,在Creo中分别建立了考虑修形的渐开线齿轮和摆线齿轮三维参数化模型,得到RV-20E精密减速器整机参数化模型。将整机模型导入Adams中建立虚拟样机,进行运动学仿真,得到渐开线行星齿轮、摆线轮和行星架的角速度曲线。采用理论计算结果验证了所建虚拟样机的正确性;研究了两级修形对机器人精密减速器传动精度的影响。在考虑第一级修形时,结合修形变量分别建立6组虚拟样机,由仿真结果可知,考虑齿廓修形后的左右渐开线行星齿轮的运转平稳度分别提高了86.5%和82.6%;相较于仅考虑摆线轮修形,结合摆线轮修形考虑两级修形后,精密减速器的运动传递更加平稳,传动精度提高1.8%,运转平稳度提高30.5%。Based on the involutes and cycloid gear profile equation,3D parametric models of involute gear and cycloid gear are respectively established in Creo with considering modification,and the whole machine parametric model of RV-20E precision reducer is obtained.The model of the whole machine is introduced into Adams to establish a virtual prototype,and the kinematics simulation is carried out to obtain the angular velocity curves of involutes planetary gear,cycloid wheel and planetary frame.The correctness of the virtual prototype is verified by theoretical calculation results.The influence of two-stage modification on the transmission accuracy of the robot precision reducer is studied.Six virtual prototypes are respectively established when considering the first stage modification combined with modification variables.According to the simulation results,the running smoothness of the left and right involutes planetary gears with tooth profile modification is improved by 86.5%and 82.6%respectively.Compared with the cycloid gear modification only considered,the two-stage modification combined with cycloid gear modification is considered,the motion transmission of the precision reducer is more stable,the transmission accuracy is increased by 1.8%,and the operation smoothness is increased by 30.5%.

关 键 词：机器人精密减速器 虚拟样机 两级修形 传动精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH132.46[自动化与计算机技术—控制科学与工程]